From 31c2afb511094b3d8a8e3345f165c7e6fa9071e9 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 26 Jun 2017 18:13:28 -0500
Subject: 10 mean pct error

---
 src/feature.h | 4 ++--
 src/main.h    | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/feature.h b/src/feature.h
index ca6944b..c78c4a8 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -7,7 +7,7 @@
 #include "camera.h"
 #include "types.h"
 
-#define FEATURE_NOISE  2.0           /* Feature process noise */
+#define FEATURE_NOISE  3.5           /* Feature process noise */
 #define VIEW_NOISE 6e-3             /*  */
 #define INITIAL_VIEW_NOISE 1e-3           /*  */
 #define REFLECTION_VIEW_NOISE 6e-3            /*  */
@@ -17,7 +17,7 @@
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
 #define RANSAC_LI_THRESHOLD 4e-6            /*  */
-#define RANSAC_HI_THRESHOLD 1e-2            /*  */
+#define RANSAC_HI_THRESHOLD 5e-2            /*  */
 #define INITDEPTH
 
 using cv::Mat;
diff --git a/src/main.h b/src/main.h
index 6af6b6a..7b8ebac 100644
--- a/src/main.h
+++ b/src/main.h
@@ -43,8 +43,8 @@
 //#define ACCBIASZ -1*-0.00709229
 
 //#define CANOECENTER 0.82            /* center of gravity of canoe  */
-#define CANOECENTER 0.65            /* center of gravity of canoe  */
-#define CANOEHEIGHT -0.50
+#define CANOECENTER 0.62            /* center of gravity of canoe  */
+#define CANOEHEIGHT -0.46
 //#define CANOEHEIGHT -0.75
 #define DOWNSAMPLE 1            /*  */
 #define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */
-- 
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